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为了研究人在跑步过程中速度对膝关节运动生物力学的影响规律,基于Kane方法和半物理仿真方法建立下肢动力学模型,以健康男性青年为对象,对不同速度下的跑步过程进行实验研究和数据分析,建立以速度为自变量的膝关节运动模型.研究结果表明:步态初期足跟落地时刻,跑步速度越快,小腿向前伸展程度越大,越接近与大腿共线;步态中期,大腿向后伸展,小腿与大腿接近共线的最大程度,此时膝关节背面的韧带拉伸量最大,并且速度越慢,共线程度越明显;膝关节最大屈曲过程出现在步态后期,并且最大角度随着速度的增加而增加;随着跑步速度的增加,膝关节曲线前移.实验结论可用于康复机器人、类人机器人等研究领域.
In order to study the influence of speed on biomechanics of knee movement during running, the dynamic model of lower limbs was established based on Kane's method and semi-physical simulation method. The healthy male youth was taken as experimental object to study the running process under different speeds. Data analysis to establish the kinematic model of knee joint with speed as an independent variable.The results show that: the initial position of the gait landing time, the faster the running speed, the greater the degree of the lower leg forward stretch, the closer to the line with the thigh; , The back of the thigh is extended, the maximal calf and thigh are close to the collinear line, then the amount of ligament stretch on the back of the knee is the largest, and the slower the speed is, the collinearity is more obvious. The maximum flexion process of the knee occurs in the late stage of gait, And the maximum angle increased with the increase of speed.As the running speed increased, the curve of knee joint moved forward.The experimental conclusion could be used in the research field of rehabilitation robot and humanoid robot.